端口受控哈密顿方法的电力双推进无人船航向航速控制  

Speed and heading control of unmanned surface vehicles system based on port-controlled hamiltonian(PCH) control method

作　　者：吕成兴 于海生[1] 周忠海[2,3,4] 臧鹤超 张风丽[2,3,4] 张照文 Lü Cheng-xing;YU Hai-sheng;ZHOU Zhong-hai;ZANG He-chao;ZHANG Feng-li;ZHANG Zhao-wen(College of Automation and Electrical Engineering,Qingdao University,Qingdao 266071,China;Institute of Oceanographic Instrumentation,Qilu University of Technology（Shandong Academy of Sciences）,Qingdao 266033,China;Shandong Provincial Key Laboratory of Ocean Environmental Monitoring Technology,Qingdao 266033,China;National Engineering and Technological Research Center of Marine Monitoring Equipment,Qingdao 266033,China)

机构地区：[1]青岛大学自动化与电气工程学院,山东青岛266071 [2]齐鲁工业大学(山东省科学院),山东省科学院海洋仪器仪表研究所,山东青岛266033 [3]山东省海洋环境监测技术重点实验室,山东青岛266033 [4]国家海洋监测设备工程技术研究中心,山东青岛266033

出　　处：《海洋科学》2018年第1期134-138,共5页Marine Sciences

基　　金：国家自然基金面上项目(61573203); 国家重点研发计划项目(2016YFC1400802)

摘　　要：以电力双推进无人船航速航向控制为主要研究问题,使用永磁同步电机作为无人船螺旋桨的驱动电机,采用基于端口受控哈密顿(PCH)方法,有效的降低了系统损耗,使无人船驱动系统输出功率得到了优化。仿真结果表明,系统能较快达到稳定状态,实现了无人船的速度控制要求,提升了无人船系统的续航能力。This study investigates the speed and heading control problem of unmanned surface vehicles. Permanent magnet synchronous motor serves as the propeller for unmanned surface vehicles. To control their speed, a control strategy based on port-controlled Hamiltonian system is proposed to reduce the system energy consumption. Simulation results show that the controller can achieve a fast dynamic response and greatly minimize energy loss. In addition, the proposed control strategy enhances the endurance of an unmanned surface vehicle.

关 键 词：端口受控哈密顿方法 航速航向控制 无人船 永磁同步电机 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]